rdf_loader.cpp

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/* Author: Ioan Sucan */

#include <moveit/rdf_loader/rdf_loader.h>
#include <moveit/profiler/profiler.h>
#include <ros/ros.h>

rdf_loader::RDFLoader::RDFLoader(const std::string &robot_description)
{
  moveit::Profiler::ScopedStart prof_start;
  moveit::Profiler::ScopedBlock prof_block("RDFLoader(robot_description)");

  ros::WallTime start = ros::WallTime::now();
  ros::NodeHandle nh("~");
  if (nh.searchParam(robot_description, robot_description_))
  {
    std::string content;
    if (nh.getParam(robot_description_, content))
    {
      urdf::Model *umodel = new urdf::Model();
      urdf_.reset(umodel);
      if (umodel->initString(content))
      {
        std::string scontent;
        if (nh.getParam(robot_description_ + "_semantic", scontent))
        {
          srdf_.reset(new srdf::Model());
          if (!srdf_->initString(*urdf_, scontent))
          {
            ROS_ERROR("Unable to parse SRDF");
            srdf_.reset();
          }
        }
        else
          ROS_ERROR("Robot semantic description not found. Did you forget to define or remap '%s_semantic'?", robot_description_.c_str());
      }
      else
      {
        ROS_ERROR("Unable to parse URDF");
        urdf_.reset();
      }
    }
    else
      ROS_ERROR("Robot model not found! Did you remap '%s'?", robot_description_.c_str());
  }
  ROS_DEBUG_STREAM("Loaded robot model in " << (ros::WallTime::now() - start).toSec() << " seconds");
}

rdf_loader::RDFLoader::RDFLoader(const std::string &urdf_string, const std::string &srdf_string)
{
  moveit::Profiler::ScopedStart prof_start;
  moveit::Profiler::ScopedBlock prof_block("RDFLoader(string)");

  urdf::Model *umodel = new urdf::Model();
  urdf_.reset(umodel);
  if (umodel->initString(urdf_string))
  {
    srdf_.reset(new srdf::Model());
    if (!srdf_->initString(*urdf_, srdf_string))
    {
      ROS_ERROR("Unable to parse SRDF");
      srdf_.reset();
    }
  }
  else
  {
    ROS_ERROR("Unable to parse URDF");
    urdf_.reset();
  }
}

rdf_loader::RDFLoader::RDFLoader(TiXmlDocument *urdf_doc, TiXmlDocument *srdf_doc)
{
  moveit::Profiler::ScopedStart prof_start;
  moveit::Profiler::ScopedBlock prof_block("RDFLoader(XML)");

  urdf::Model *umodel = new urdf::Model();
  urdf_.reset(umodel);
  if (umodel->initXml(urdf_doc))
  {
    srdf_.reset(new srdf::Model());
    if (!srdf_->initXml(*urdf_, srdf_doc))
    {
      ROS_ERROR("Unable to parse SRDF");
      srdf_.reset();
    }
  }
  else
  {
    ROS_ERROR("Unable to parse URDF");
    urdf_.reset();
  }
}